Added beep for input change
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31c321c83a
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15
Src/util.c
15
Src/util.c
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@ -89,6 +89,7 @@ ExtY rtY_Right; /* External outputs */
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//---------------
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//---------------
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uint8_t inIdx = 0;
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uint8_t inIdx = 0;
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static uint8_t inIdxPrev = 0;
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#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
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#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
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InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
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InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
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InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
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InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
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@ -993,13 +994,23 @@ void handleTimeout(void) {
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}
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}
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#endif
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#endif
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if (timeoutFlgADC || timeoutFlgSerial || timeoutFlgGen) { // In case of timeout bring the system to a Safe State
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// In case of timeout bring the system to a Safe State
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if (timeoutFlgADC || timeoutFlgSerial || timeoutFlgGen) {
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ctrlModReq = OPEN_MODE; // Request OPEN_MODE. This will bring the motor power to 0 in a controlled way
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ctrlModReq = OPEN_MODE; // Request OPEN_MODE. This will bring the motor power to 0 in a controlled way
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input1[inIdx].cmd = 0;
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input1[inIdx].cmd = 0;
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input2[inIdx].cmd = 0;
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input2[inIdx].cmd = 0;
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} else {
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} else {
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ctrlModReq = ctrlModReqRaw; // Follow the Mode request
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ctrlModReq = ctrlModReqRaw; // Follow the Mode request
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}
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}
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// Beep in case of Input index change
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if (inIdx && !inIdxPrev) { // rising edge
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beepShort(8);
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inIdxPrev = inIdx;
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} else if (!inIdx && inIdxPrev) { // falling edge
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beepShort(18);
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inIdxPrev = inIdx;
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}
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}
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}
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/*
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/*
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@ -1359,7 +1370,7 @@ void sideboardSensors(uint8_t sensors) {
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#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
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#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
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static uint8_t sensor1_prev, sensor2_prev;
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static uint8_t sensor1_prev, sensor2_prev;
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static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
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static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
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uint8_t sensor1_trig, sensor2_trig;
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uint8_t sensor1_trig = 0, sensor2_trig = 0;
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#if defined(SIDEBOARD_SERIAL_USART2)
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#if defined(SIDEBOARD_SERIAL_USART2)
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uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
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uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
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uint16_t sideboardSns = Sideboard_L.sensors;
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uint16_t sideboardSns = Sideboard_L.sensors;
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